Patents by Inventor Katsuya Kanaoka
Katsuya Kanaoka has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230081478Abstract: A drive unit 10A is configured to exert a driving force on an environment 50 in accordance with a target driving force command ?d, and includes a parameter storage device 30A, a force measuring instrument 35, an admittance model calculation device 31A, and a position control and driving device 33A. The parameter storage device 30A has stored therein dynamics parameters of first and second virtual objects affected by a virtual interactive force ?R. The force measuring instrument 35 is configured to output a measurement result for the driving force as a measured driving force value ?s. The admittance model calculation device 31A is configured to calculate and output a displacement of the first virtual object. The displacement is obtained by calculations based on the stored dynamics parameters, the target driving force command ?d, and the measured driving force value ?s. The position control and driving device 33A is configured to operate in accordance with a target position command.Type: ApplicationFiled: January 29, 2021Publication date: March 16, 2023Inventors: Katsuya KANAOKA, Ryo KIKUUWE
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Patent number: 10239201Abstract: A master-slave system (1) according to the present invention includes a slave actuator (As1 to As3) for generating a slave driving force (?s) to control a slave robot in terms of driving force, an effective driving force sensor (Fs1 to Fs3) for measuring a slave effective driving force (?sa) actually acting on a terminal output axis of the slave actuator (As1 to As3), and a slave target effective driving force calculating device (3) for calculating a slave target effective driving force (?sad) which is a target value for the slave effective driving force (?sa), on the basis of a master operating force (fm) applied to the master robot by an operator (U). The slave actuator (As1 to As3) generates the slave driving force (?s) on the basis of the slave target effective driving force (?sad) and the slave effective driving force (?sa).Type: GrantFiled: April 28, 2015Date of Patent: March 26, 2019Assignee: Muscle CorporationInventor: Katsuya Kanaoka
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Patent number: 9855653Abstract: A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm1 to Pm3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps1 to Ps3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am1 to Am3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.Type: GrantFiled: November 5, 2014Date of Patent: January 2, 2018Assignee: Muscle CorporationInventors: Katsuya Kanaoka, Ryo Kikuuwe
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Publication number: 20170050310Abstract: A master-slave system (1) according to the present invention includes a slave actuator (As1 to As3) for generating a slave driving force (?s) to control a slave robot in terms of driving force, an effective driving force sensor (Fs1 to Fs3) for measuring a slave effective driving force (?sa) actually acting on a terminal output axis of the slave actuator (As1 to As3), and a slave target effective driving force calculating device (3) for calculating a slave target effective driving force (?sad) which is a target value for the slave effective driving force (?sa), on the basis of a master operating force (fm) applied to the master robot by an operator (U). The slave actuator (As1 to As3) generates the slave driving force (?s) on the basis of the slave target effective driving force (?sad) and the slave effective driving force (?sa).Type: ApplicationFiled: April 28, 2015Publication date: February 23, 2017Inventor: Katsuya KANAOKA
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Publication number: 20160279788Abstract: A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm1 to Pm3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps1 to Ps3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am1 to Am3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.Type: ApplicationFiled: November 5, 2014Publication date: September 29, 2016Inventors: Katsuya KANAOKA, Ryo KIKUUWE
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Patent number: 9308986Abstract: A holonomic floating mobile object is operated under gravity and includes a main body and six or more thrusters for generating thrust by changing the momentum of a fluid. The six or more thrusters are controlled independently of one another such that the thrust is set at a desired value. The six or more thrusters are arranged in a fuselage coordinate system defined on the main body, such that the range in which a total thrust vector obtained by combining vectors of the thrust generated by all of the thrusters can be generated spans a six-dimensional space with three directions of translation and three directions of rotation. Incoming and outgoing flows to and from one of the thrusters are spaced apart from incoming and outgoing flows to and from the other thrusters and even apart from every other fuselage structure aside from that one thruster.Type: GrantFiled: February 14, 2013Date of Patent: April 12, 2016Assignee: The Ritsumeikan TrustInventor: Katsuya Kanaoka
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Publication number: 20150108282Abstract: A holonomic floating mobile object is operated under gravity and includes a main body and six or more thrusters for generating thrust by changing the momentum of a fluid. The six or more thrusters are controlled independently of one another such that the thrust is set at a desired value. The six or more thrusters are arranged in a fuselage coordinate system defined on the main body, such that the range in which a total thrust vector obtained by combining vectors of the thrust generated by all of the thrusters can be generated spans a six-dimensional space with three directions of translation and three directions of rotation. Incoming and outgoing flows to and from one of the thrusters are spaced apart from incoming and outgoing flows to and from the other thrusters and even apart from every other fuselage structure aside from that one thruster.Type: ApplicationFiled: February 14, 2013Publication date: April 23, 2015Inventor: Katsuya Kanaoka
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Patent number: 8544853Abstract: A two-legged walking transportation device includes an upper body unit for supporting the trunk of the rider, and leg units provided below the upper body unit, each of the leg units includes a link mechanism connected at one end to the upper body unit via a hip joint with at least three degrees of freedom, a foot mechanism connected to the other end of the link mechanism via an ankle joint with at least two degrees of freedom, and a fixing mechanism for fixing the rider's foot to the link mechanism via a multi-axis force sensor so as to be only rotatable with respect to directions in which the ankle joint is movable, the hip join is voluntarily controlled in accordance with operating force and/or operating torque provided by the rider's foot and sensed by the multi-axis force sensor, and control of the ankle joint while standing is automatically performed as balance maintenance control without directly involving the rider.Type: GrantFiled: March 5, 2009Date of Patent: October 1, 2013Assignee: Muscle CorporationInventor: Katsuya Kanaoka
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Publication number: 20120068422Abstract: A two-legged walking transportation device includes an upper body unit for supporting the trunk of the rider, and leg units provided below the upper body unit, each of the leg units includes a link mechanism connected at one end to the upper body unit via a hip joint with at least three degrees of freedom, a foot mechanism connected to the other end of the link mechanism via an ankle joint with at least two degrees of freedom, and a fixing mechanism for fixing the rider's foot to the link mechanism via a multi-axis force sensor so as to be only rotatable with respect to directions in which the ankle joint is movable, the hip join is voluntarily controlled in accordance with operating force and/or operating torque provided by the rider's foot and sensed by the multi-axis force sensor, and control of the ankle joint while standing is automatically performed as balance maintenance control without directly involving the rider.Type: ApplicationFiled: March 5, 2009Publication date: March 22, 2012Inventor: Katsuya Kanaoka
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Patent number: 7440807Abstract: A system configuration can evaluate the stability of an output from a user's control system including all effects of unknown dynamic characteristics and disturbances and can guarantee the stability of the output from the user's control system irrespective of the unknown dynamic characteristics and the disturbances. The control system is provided with a virtual power monitor and is thereby provided with a function of evaluation and analyzing the stability of an object to be controlled, and is such that in a user's control system the user's controlled object is controlled by the user's control strategy. Included is a conservative control strategy which receives a feedback signal from the user's controlled object and can input a control input to the user's controlled object; and a virtual power monitor which monitors power virtually transmitted from the conservative control strategy to the user's controlled object, and can evaluate the stability of an output from the user's control system.Type: GrantFiled: February 16, 2004Date of Patent: October 21, 2008Assignee: The Ritsumeikan TrustInventors: Katsuya Kanaoka, Tsuneo Yoshikawa
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Patent number: 7339339Abstract: An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caused by waves, tidal current, etc.Type: GrantFiled: February 25, 2005Date of Patent: March 4, 2008Assignee: The Ritsumeikan TrustInventor: Katsuya Kanaoka
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Publication number: 20070200525Abstract: An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track a target trajectory with high precision, even under disturbances caused by waves, tidal current, etc.Type: ApplicationFiled: February 25, 2005Publication date: August 30, 2007Applicant: The Ritsumeikan TrustInventor: Katsuya Kanaoka
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Publication number: 20060224253Abstract: A system configuration can evaluate the stability of an output from a user's control system including all effects of unknown dynamic characteristics and disturbances and can guarantee the stability of the output from the user's control system irrespective of the unknown dynamic characteristics and the disturbances. The control system is provided with a virtual power monitor and is thereby provided with a function of evaluation and analyzing the stability of an object to be controlled, and is such that in a user's control system the user's controlled object is controlled by the user's control strategy. Included is a conservative control strategy which receives a feedback signal from the user's controlled object and can input a control input to the user's controlled object; and a virtual power monitor which monitors power virtually transmitted from the conservative control strategy to the user's controlled object, and can evaluate the stability of an output from the user's control system.Type: ApplicationFiled: February 16, 2004Publication date: October 5, 2006Applicant: KANSAI TECHNOLOGY LICENSING LTORGANIZATION CO. LTD.Inventors: Katsuya Kanaoka, Tsuneo Yoshikawa